D

Journal of Mechanics Engineering and Automation 4 (2014) 499-504

DAVID

PUBLISHING

Temperature Control of a Thermal Plasma Torch with

Inductive Coupling Using the Arduino Board
Gustavo Fernandes de Lima, Glauco George Cipriano Manioba and Andrs Ortiz Salazar
Department of Computer Engineering and Automation, Federal University of Rio Grande do Norte, Natal 59072-970, Brasil
Received: February 17, 2014 / Accepted: March 11, 2014 / Published: June 25, 2014.
Abstract: Plasma torch is a device that transforms electrical energy into heat carried by a gas and its safe operation is necessary to
control her temperature. This paper presents the use of the Arduino board in temperature control of a plasma torch through fuzzy
control. The plasma torch of this project was built so that a flow of water can circulate through your body, allowing its cooling. The
cooling system mounted consists of one radiator, one expansion vase, one water pump and one temperature sensor. The heated water
coming the plasma torch is passed by the temperature sensor. This is converted in a voltage and read by an analog input port of the
Arduino. This processes the information received and makes the decision to turn on/off the radiator fan and/or powered the frequency
inverter water pump to control the temperature. The graph of the fuzzy control showed an oscillation between 104 F to 122 F
around the chosen reference 113 F. The results show that it is possible to control the temperature of a plasma torch using the
Arduino board and fuzzy logic.
Key words: Arduino, torch, fuzzy logic, temperature, thermal plasma.

1. Introduction
Arduino is a prototyping platform electronics open
source based on flexible hardware and software and
easy to use. It is destined for artists, designers,
hobbyists and anyone interested to create interactive
objects or environments [1].
The Arduino board can integrate with environment
by receiving signals inputs from types varied of
sensors. And it can also affect the environment by
controlling lights, motors or others actuators.
In this work, the environment of Arduino
interaction was a water refrigeration system for a
thermal plasma torch. The Arduino board received an
electrical signal from temperature sensor and acted by
controlling a frequency inverter which powered a
water pump, and acted in a fan coupled a radiator.
The form how refrigeration system was projected
enabled the implementation of a controller using fuzzy
Corresponding author: Gustavo Fernandes de Lima,
electrical engineer, specialist, research fields: analog
electronics, control systems and automation. E-mail:
gustavoflima@msn.com.

logic embedded on Arduino board, which controlled on

spin speed of water pump and on/off fan of radiator.
The paper is organized as follows: Section 2
presents the theoretical foundation; Section 3 presents
the a short description of components using in this
work; Section 4 shows the results and discussion; and
Section 5 presents the conclusions.

2. Theoretical Foundation
2.1 Fuzzy Logic
In 1965, the professor Lofit A. Zadeh from
Berkeleys University proposed a new theory of sets,
where transition of pertinence to non pertinence were
slow and progressive, and no abrupt how in usual
theory of sets [2]. Thus, it emerged the Fuzzy Set
theory.
A system based in fuzzy logic can have your action
schematized by the elements [3]: fuzzificator, rule base
(knowledge base), inference engine (decision-making
unit) and defuzzificator. This structure can be viewed
in Fig. 1.

500

Temperature Control of a Thermal Plasma Torch with Inductive Coupling Using the Arduino Board

Also, two modules were used in connection with

the Arduino board. The first module was SD card (Fig.
3a) and the second was LCD (liquid-crystal display)

Fig. 1

Blocks of the controller fuzzy.

The fuzzificator has for function to convert the

numeric values of the inputs in linguistic variables.
The rule base represents a system model to be
controlled, consisting of a data base and a linguistic
fuzzy rule base.
The inference engine has for feature to transform
input linguistics values, with the rules, on output
linguistics values.
The defuzzificator has for function to translate the
output linguistic values on output numeric values,
usable in a control action at real world.
2.2 The Arduino Board
The Arduino is a board of printed circuit (2.68
2.17 0.39), indicated for creation electronics
prototypes based on the philosophy of open hardware
and software. It has a 01 microcontroller
ATmega328P (manufactured for Atmel Company), 14
digital inputs/outputs, 06 analog inputs and pins of 3.3
Volts, 5.0 Volts and Ground (Fig. 2).
In this work, the Arduino Uno model was chosen
for those reasons: it has USB connection, one jack
connector for supply external, simple programming,
low price and easy manipulation.

16 2 (Fig. 3b).
In this project, the SD card module was used for
save the measurements of temperature and time in txt.
file. Whereas the LCD module was used to show the
values of temperature and time measured.
2.3 Temperature Sensor NTC (Negative Temperature
Coefficient)
In this project, one thermistor NTC, low cost
semiconductor which decreases the electrical
resistance with increment the temperature were used
(Fig. 4).
The NTC sensor works for a resistance of 520 in
298.15 K (77 F) and 75.41 in 373.15 K (212 F),
with a tolerance of 1% to 5%, giving a non-linear
graphic. For making one, this curve graphic was used
in Eq. (1).

1 1
R R0 exp
T T0

where, R is the thermistor resistance at temperature T,

R0 is a thermistor resistance at temperature T0 and is
the material constant which is equal to 2,864.30 [4].
Fig. 5 presents the characteristic curve of the sensor
used in this project.

(a) SD Card

(b) LCD

Fig. 3 Modules for connection with Arduino board.

Fig. 2

Identified blocks of the Arduino Uno.

(1)

Fig. 4

NTC sensor used in this project.

Temperature Control of a Thermal Plasma Torch with Inductive Coupling Using the Arduino Board

Curve of NTC

a 0.0012
b 0.00033151

c 0.0000001962

501

(5)

In this moment, it was possible to implement the

stretch of source code for Arduino able to convert the
read voltage in A0 input, calculate the resistance RNTC,
determinate the temperature in Kelvin and, lastly,
convert for a temperature in F, according to Code 1.

Fig. 5

Characteristic curve of the sensor NTC.

The Arduino analog input was developed to

receive voltage up to 5 VDC. Therefore, it raised the
need to conversion the NTCs resistance in matching
voltage signal.
A voltage divider circuit was chosen to convert the
resistance of NTC in measurable voltage by Arduino.
In

the

configuration

chosen,

an

increase

of

temperature was reflected in increase of voltage V0

(Eq. (2)).

R1
V0 Vcc
R1 RNTC

(2)

The V0 voltage was connected in analog input A0 of

Arduino board and this one has to calculate the
resistance RNTC (Eq. (3)).

V
R NTC R1 cc R1
V0

(3)

For determine of the current temperature of system

in Kelvin, was used the Steinhart-Harts equation (Eq.
(4)).

T (K )

1
(4)
a b ln( R NTC ) c (ln( R NTC )) 3

The Steinhart-Harts coefficients (a, b, c) were

extracted from Ref. [5], whose values were:

//Convertion sensor voltage in temperature

Tensao Sensor = analog Read(A0); //read input A0
V0 =Tensao Sensor * 5/1023; // convert to voltage
Rntc = (5*150/V0)-150; //RNTC = (Vcc*R1/Vin)-R1
b1 = log(Rntc); //calculate LN(RNTC)
b1 = 0.00033151*b1; //calculate b*LN(RNTC)
c1= log(Rntc); //calculate LN(RNTC)
c1 = 0.0000001962*c1*c1*c1; //c*(LN(RNTC)^3)
tempK=0.0012+b1+c1; //a+b*LN(RNTC)+c*(LN(RNTC)^3)
tempK = 1/tempK; // 1/(a+b*LN(RNTC)+c*(LN(RNTC)^3))
tempC =tempK-273.15; //convert to C
tempF = tempC*1.8+32; //convert to F
Code 1

Stretch of Code for Arduino.

2.4 Plasma Torch

The plasma can be defined how a gas partly ionized
where exist free electrons and positive ions in
movement, in the process where happen transference
of energy by radiation, conduction and Joule heating
between others [6].
Now, the plasma torch for Ref. [7] is a dispositive
which transforms electrical energy in heat transported
by a gas. With these devices, virtually either one gas
can lead the plasma state.
For this project, one ICP (inductive coupled plasma)
torch was chosen. According to Ref. [5], an ICP torch
has by advantages do not have internal electrodes
metallic, to be eroded by plasma jet, avoiding possible
contamination. Fig. 6 presents one image of the ICP
torch used in this project.
This torch was built to allow the water flow in two
different paths, for your own cooling. Still in Fig. 6, it
is possible to see an indicative numeration for these
paths. In the first path, the water gets in the exhaustion
opening (n 1), goes to tube of confinement and gets

502

Temp
perature Con
ntrol of a Therrmal Plasma Torch with In
nductive Coupling Using tthe Arduino Board
B

Fig. 6

t
of the prooject.
ICP torch

out by the base

b
of torch (n 2). The seecond path ennters
in the n 3 annd gets out in the n 4 by within
w
of coil.

Fig.. 7

Refrigerattion system of the torch.

Arrduino board
Temperature of referennce

Pulses

3. Descrip
ption of Com
mponents

PWM

d/dt

3.1 Water Reefrigeration System

S
One watter refrigeraation system
m was mouunted
compound by
b one radiaator (heat exxchanger), which
w
have one faan coupled and
a
poweredd by three-phhase
motor, one expansion
e
vaase, one wateer pump pow
wered
by one freqquency inverter and one NTC
N
temperaature
sensor, accoording to Fig. 7.
These com
mponents haave the following featurees in
the cooling system
s
[8]:
Radiatoor: device used to exchannge heat betw
ween
the heated water from the plasmaa torch and the
atmosphericc air;
Expanssion vase: sem
mitransparentt plastic reserrvoir
which allow
ws to see the water
w
level;
Water pump:
p
responnsible for cirrculating wateer in
the cooling system
s
of thee plasma torchh;
Temperrature senssor: responnsible for the
measuremennts of water temperaturee in the coooling
system of thhe torch.

Three-phase
motor of fan

Fuuzzy
conntroller

Teemperature
of system

Fig.. 8

Refriggeration
system

Block diaggram of the system.

Eq. (6) was useed. This is thhe first variaable of fuzzyy

con
ntroller and measurable
m
in Celsius degreee.
(6)
(F) = Tread Tref
After
A
that, thee error valuee (current) waas subtractedd
of the previouus error valuue for deteermining thee
vaariation of errror () vallue, according to Eq. (7)..
Thiis is the secoond variable of fuzzy co
ontroller andd
meaasurable in C
C/min.

(F/min) =

(7))

With
W
two prrevious valuues, the fuzzzy controllerr
com
mbined variabbles and in the infereence rules, off
typee if then, andd created two appropriates outputs. Thee
firstt for poweredd the of frequuency inverteer and secondd
for powered of the radiator's fan.

3.2 Descripttion of Controol

3.3 Fuzzy Controoller

The conntrol of tem

mperature prroposal can be
visualized inn block diagraam of Fig. 8.
In this diaagram, the waater temperatuure of system was
read by Ardduino. For deetermining thee error () vaalue,

The
T fuzzy loggical toolbox of MATLAB
BTM softwaree
wass used for created
c
the innputs variables of fuzzyy
systtem and deterrmine output variables vallues.
The
T variablee was definedd with valuess in -67 F too

Temperature Control of a Thermal Plasma Torch with Inductive Coupling Using the Arduino Board

503

131 F and Fig. 9 shows the fuzzy set created, where

linguistics values were: L (low), M (medium), SP (set
point), H (high) and VH (very high).
The variation of error variable was defined with
values in 22.1 F/min to 41.9 F/min and Fig. 10
shows the fuzzy set created, where linguistics values
were: FF (falling fast), FS (falling slow), S (stable),
RS (rising slow) and RF (rising fast).

Output variable PWM

Fig. 11

Pertinences of the PWM variable.

Fig. 12

Pertinences of the pulses variable.

The first output variable was called PWM (pulse

width modulation) and represented the signal of
powered of the frequency inverter (0 to 100%) of
water pump and Fig. 11 shows the fuzzy set created,
where linguistics values were: S (small), M (medium),
B (big) and VB (very big).
The second output variable was called pulses and
represented the on/off signal of radiators fan and Fig.
12 shows the fuzzy set created, where linguistics
values were: off and on.
For inference machine, the Mandani was used and
the defuzzification was calculated using the medium
of the maxima pertinence.

Input variable error

Fig. 9

Pertinences of the error variable.

Input variable variation error

Fig. 10

Pertinences of the variation of error variable.

Output variable pulses

4. Results and Discussion

For the demonstration of the control operation, five
real experiments were made. In all, the reference
temperature was configured in 113 F, for security
reasons. The radiators fan temperature powered was
configured in 122 F and after was turned off when the
temperature achieved 104 F.
The fuzzy controller was configured for keeping the
PWM variable in a constant value. In the first
experiment, that value was 15% (green curve), in
second 50% (yellow curve), in third 75% (red curve)
and in fourth 100% (black curve). In the last
experiment, the fuzzy controller was configured for
any PWM variable value, in range from 0 to 100%
(blue curve).
Fig. 13 shows all curves of the five real
experiments. This allowed to see the temperature
behavior when the PWM variable was remained
constant and when her changed freely. In all, the fuzzy
controller worked how expected and allowed the
temperature variation was within of the range previous
determined from 104 F to 122 F.

504

Temperature Control of a Thermal Plasma Torch with Inductive Coupling Using the Arduino Board

Temperature X time

Fig. 13

Variation of the water temperature.

5. Conclusions
In this work, it presents the use of Arduino board in
temperature control of water which cools a thermal
plasma torch used the fuzzy control. The objective
was achieved, once the temperature of water ranged
between 106.16 F and 121.46 F within the range
from 104 F to 122 F as previous defined. This result
was possible why the temperature is a magnitude slow
varies, which allowed for Arduino board works
without big computational endeavor.

[4]

control for liquid level system, in: XIV Congresso

Brasileiro de Automtica, Natal, RN, 2002, pp.
3017-3022.
G.G.C. Manioba, Temperature control of the water
cooling system of a plasma torch using fuzzy logic,
Master Thesis, Federal University of Rio Grande do
Norte, 2013.

[5]

G.G.C. Manioba, A.O. Salazar, J.A.D. Amado, J.A.B. de

Oliveira, J.P. Dubut, A. S. Lock, et al., Design and
simulation of a thermal plasma torch with inductive
coupling, in: VII CONEM, So Luiz, MA, 2012.

[6]

M.F.G. Rosias, Emission Atomic Spectrometry with

Inductively Coupled Plasma, 1st ed., CENA, Piracicaba,

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